WO2010000253A2 - Capteur radar à rayonnement frontal et latéral - Google Patents
Capteur radar à rayonnement frontal et latéral Download PDFInfo
- Publication number
- WO2010000253A2 WO2010000253A2 PCT/DE2009/000947 DE2009000947W WO2010000253A2 WO 2010000253 A2 WO2010000253 A2 WO 2010000253A2 DE 2009000947 W DE2009000947 W DE 2009000947W WO 2010000253 A2 WO2010000253 A2 WO 2010000253A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- board
- elementary
- radar sensor
- frontal
- transmitting
- Prior art date
Links
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0233—Avoidance by phase multiplex
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0234—Avoidance by code multiplex
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
- G01S7/032—Constructional details for solid-state radar subsystems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q9/00—Electrically-short antennas having dimensions not more than twice the operating wavelength and consisting of conductive active radiating elements
- H01Q9/04—Resonant antennas
- H01Q9/0407—Substantially flat resonant element parallel to ground plane, e.g. patch antenna
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
Definitions
- the invention relates to a radar sensor for use in driver assistance systems in the motor vehicle.
- the radar sensor according to the invention has a frontal and a lateral radiation and is particularly suitable for the realization of a lane change assistant.
- Motor vehicles are increasingly being equipped with driver assistance systems which detect the surroundings with the aid of sensor systems and derive automatic reactions of the vehicle from the traffic situation thus recognized and / or instruct the driver, in particular warn him. A distinction is made between comfort and safety functions.
- FSRA Frell Speed Range Adaptive Cruise Control
- the vehicle adjusts its own speed to the desired speed specified by the driver, if the traffic situation permits, otherwise the vehicle's own speed is automatically adapted to the traffic situation.
- the second important comfort function is precisely the lane change assistant, which displays the driver or alerts him when the turn signal is set if there is another vehicle on the neighboring lane, which must be taken into account in the event of a lane change, especially accidents and dangerous situations. which in turn would force this other vehicle to make sharp braking or an uncontrolled lane change.
- driver assistance functions In addition to an increase in comfort, safety functions are also in the focus, with the reduction of the braking or stopping distance in emergency situations being the most important factor.
- the spectrum of the corresponding driver assistance functions ranges from an automatic pre-fill of the brake to the reduction of the brake latency (Prefill), an improved brake assistant (BAS +) up to the autonomous emergency braking.
- Prefill the reduction of the brake latency
- BAS + improved brake assistant
- the transmission frequencies used are 24 and 77GHz.
- the object of the invention is to generate a favorable sensor with frontal and lateral detection range.
- This object is basically achieved with the aid of a radar system according to claims 1-14. It shows how lateral radiation can be realized with elementary radiators on a planar board, for which directly laterally radiating elementary radiators arranged on the edge of the board and / or beam deflections on reflecting surfaces or with correspondingly shaped dielectric materials of frontally radiating elementary radiators are used.
- a horizontal section through the first embodiment of a radar sensor is shown in the middle, above and below the front and back of the high-frequency board of this sensor.
- Fig. 2 shows in top view the two detection areas of the radar sensor.
- Fig. 3 shows in top view the mounting position in the vehicle and the detection range of the two radar sensors for implementing a lane change assistant.
- Fig. 4 the two-way antenna diagrams for the front and side looking antennas are shown over the azimuth angle.
- Fig. 5 is a horizontal section through the second embodiment of a radar sensor shown in the middle, the top and bottom of the front and back of the high-frequency board of this sensor.
- a horizontal section through the third embodiment of a radar sensor is shown in the middle, above and below the front and back of the high-frequency board of this sensor.
- a horizontal section through the fourth embodiment of a radar sensor is shown in the middle, above and below the front and back of the high-frequency board of this sensor.
- FIG. 8 shows, for the arrangement according to FIG. 7, the different path lengths between the phase centers of the laterally looking receiving antennas and a far-away point-like object in the case of the azimuth angle ClA.sub.z related to the board plane.
- a horizontal section through a radar sensor is shown in the middle. Front and side of the sensor is surrounded by a plastic housing 1.1, which allows the radar waves as unhindered and uninfluenced pass. On the back, the sensor has a cover 1.2. In between are a board 1.3, seen from the front, which blocks the high-frequency, ie the radar In this case, the inner carrier 1.4 consisting of metal or metallized plastic, which serves as a structurally supporting part and for shielding the circuit boards, and finally the circuit board 1.5 for the low-frequency components, in particular for digital signal evaluation.
- each individual rectangular patch represents a transmitting or receiving single element, also referred to below as elementary radiation, and has a very wide beam cone whose center is perpendicular to the circuit board.
- these antennas on the front of the board consist only of a vertical patch column (ie 8 patches arranged one above the other), its beam cone is in azimuth (ie in the horizontal) the same width as the beam cone of each patch and is in the range -75 ° ... 75 ° to the vertical on the board.
- azimuth ie in the horizontal
- elevation ie in the vertical
- DFT discrete Fourier transform
- the patches of the transmitting antenna TXS and the receiving antenna RXS which are arranged one above the other, are located on the back of the board (see FIG. 1, bottom).
- the radiation of these patches is deflected to the side over the metallic or metallized surface 1.41 on the inner support 1.4 so that the antennas TXS and RXS generate the lateral detection region S shown in FIG. 2, which has an azimuthal detection range of approximately -50 ° ... + 50 °.
- Only with the signals received in RXS at a time can only be made a statement whether there are objects in this detection range, but you can not determine their azimuth angle and separate them on the azimuth angle alone.
- a separation is possible only via other measured variables such as distance and radial relative velocity and / or over the time course of measured quantities under assumptions of certain object hypotheses; The latter can also be used for angle determination and will be explained below.
- Such radar sensors are used, for example, to implement a lane change assistant which indicates to the driver or warns him when the turn signal is set if there is another vehicle on the neighboring lane which must be observed in the event of a lane change, in particular accidents and dangerous situations. which in turn would force this other vehicle to make sharp braking or an uncontrolled lane change.
- a driver assistance function as shown in Fig. 3 seen from above - rear left and right of the vehicle 3.1 (typically behind the plastic bumper) two of the above-presented radar sensors 3.2 and 3.3 installed in Figure 1; In this case, the installation angle is tilted from the amount by 60 ° relative to the longitudinal direction of the vehicle (ie 30 ° to the rear).
- the detection ranges of the two sensors are shown.
- the two with respect to the respective sensor frontal detection areas FL and FR serve for the detection of vehicles, which are located behind the own vehicle or at the level of the vehicle rear.
- the azimuth angle of objects can be determined with the aid of digital beamforming by means of a DFT via the received signals of the 8 receiving antennas RXFO-7 so accurately that even in about 80m distance vehicles can be properly assigned to the lanes; If a vehicle is detected at this distance, which approaches with a high relative speed, then it is only relevant for the lane change assistant if it is located on the adjacent lane (and not, for example, two lanes next to one's own on a three-lane road).
- the detection areas FL and FR do not cover the entire space next to the vehicle, especially not the middle and front area; This is particularly critical in situations where the own vehicle slowly overtakes another, especially smaller vehicle and this in the Blind spot area of the side mirrors is located.
- the lateral detection areas SL and SR are required with respect to the respective sensor. Without the realization according to the invention of these lateral detection areas by deflecting the beam direction of elementary radiators arranged on the high-frequency board, either a second sensor with different mounting orientation or at least one additional, differently oriented high-frequency board would be required, which would significantly increase the system costs.
- the angle measurement accuracy in the two with respect to the respective sensor frontal detection areas FL and FR decreases towards the outside (ie with amount increasing angle to the vertical on the sensor); This is primarily due to the nonlinear, outwardly increasingly flattening mapping between azimuth angle and phase difference of the received signals of adjacent receiving antennas RXFO-7, in addition to the decreasing signal-to-noise ratio by lower antenna gain. Therefore, an angle estimation by amplitude comparison with the level of the antenna RXS received in the respective lateral detection range SL or SR is additionally made in each case in the outer region of FL and FR facing the vehicle side.
- the additional angle estimation by amplitude comparison is carried out, for example, in the azimuth angle range 60 ° ... 75 ° (for left sensor) or -60 ° ... -75 ° (for right sensor), where the level of the frontal antennas is strong decreases as the level of the side antennas increases, resulting in a large change in the level ratio.
- the level of the frontal antennas it is expedient to use the level resulting after the digital beam shaping and not the individual levels of the receiving antennas - the latter could lead to errors in multi-object situations.
- the radial relative speed measured by the sensor of a vehicle moving parallel to its own vehicle with a constant absolute speed depends on its azimuth angle and the difference between the own speed and the absolute speed of this vehicle.
- Azimuth angle and the absolute velocity of the other vehicle are two unknowns, one must evaluate the course of the measured radial relative velocity over a certain period of time for such a hypothesis.
- a deflection on a correspondingly shaped metallic surface has hitherto been used.
- a deflection on a correspondingly shaped metallic surface has hitherto been used.
- Fig. 5 shows a horizontal section through the radar sensor with the realized in the inner support 5.4 waveguides 5.41; the high-frequency board (shown at the top in front of Fig. 5, underside bottom) changes from the original one
- Embodiment of FIG. 1 only by a slightly engaged position of the patches for the side deflected antennas TXS and RXS.
- the beam path of elementary radiators arranged on the high-frequency circuit board is deflected by means of correspondingly shaped structures of dielectric material to the side, wherein these structures of dielectric material are preferably arranged above the elementary radiators and are part of a plastic housing part.
- This method can also be combined in combination with the deflection by reflecting surfaces or waveguide structures.
- - Elementary radiators in printed structure are used whose beam cone center is already at the side of the circuit board without additional measures. This can be done, for example, at the edge of the board ending, suitably shaped stub lines, which act as a slot radiator.
- Fig. 6 above shows the front of the high frequency board 6.3 of such an arrangement with stubs to the edge, which realize the laterally radiating antennas TXS and RXS. As a result, on the one hand no deflection measures are required (see
- the phase centers of the two receiving antennas RXSO and RXS1 are thereby offset from each other by a dimension d in the direction perpendicular to the board; In Fig. 8, the phase centers of the antennas are shown in vertical projection. Furthermore, FIG. 8 shows the beam paths to a distant point-like object at the azimuth angle CTA Z related to the board plane (the object is so far away that the beam paths can be assumed to be parallel, ie the object is located in the far field of the antenna arrangement ).
- ⁇ is the wavelength of the radar frequency used (at 24GHz the wavelength is about 12.5mm).
- phase differences can only be measured up to an unknown integer multiple of 2/7, so that only in the Azimutwinkelbetician no ambiguities arise when the phase difference over the entire detection range less than 2/7 is;
- the offset of the phase centers of two laterally looking antennas with respect to the circuit board perpendicular direction is realized in that the radiation is deflected from the bottom and top of the board patches on reflective surfaces to the side.
- such an offset of the phase centers of two antennas can also be realized by other measures; as examples may be mentioned:
- the beam deflection by means of waveguides or different reflective surfaces is designed so that there are two different phase centers in the direction perpendicular to the board.
- phase centers in the direction perpendicular to the board can be realized and, on the other hand, multiple transmit and multiple receive antennas with respective phase centers in this direction are possible.
- the azimuth angle of objects can be determined more accurately and separated several objects alone on the azimuth angle.
- each antenna is used only for transmission or reception.
- suitable high frequency components eg printed ring couplers
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Security & Cryptography (AREA)
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112009001052T DE112009001052A5 (de) | 2008-07-02 | 2009-07-02 | Radarsensor mit frontaler und seitlicher Abstrahlung |
EP09772023.9A EP2294445B1 (fr) | 2008-07-02 | 2009-07-02 | Capteur radar à rayonnement frontal et latéral |
CN200980122802.7A CN102066970B (zh) | 2008-07-02 | 2009-07-02 | 具有正面和侧面辐射的雷达传感器 |
JP2011519032A JP2011526372A (ja) | 2008-07-02 | 2009-07-02 | 正面及び側方放射を持つレーダセンサ |
US12/994,754 US8593333B2 (en) | 2008-07-02 | 2009-07-02 | Radar sensor with frontal and lateral emission |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008032070.6 | 2008-07-02 | ||
DE102008032070 | 2008-07-02 |
Publications (2)
Publication Number | Publication Date |
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WO2010000253A2 true WO2010000253A2 (fr) | 2010-01-07 |
WO2010000253A3 WO2010000253A3 (fr) | 2010-03-18 |
Family
ID=41171122
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2009/000769 WO2010000216A1 (fr) | 2008-07-02 | 2009-06-03 | Système de radar pour véhicule et procédé de détermination de la position d'au moins un objet par rapport à un véhicule |
PCT/DE2009/000947 WO2010000253A2 (fr) | 2008-07-02 | 2009-07-02 | Capteur radar à rayonnement frontal et latéral |
PCT/DE2009/000946 WO2010000252A2 (fr) | 2008-07-02 | 2009-07-02 | Système radar à formation d'angle améliorée |
PCT/DE2009/000945 WO2010000251A2 (fr) | 2008-07-02 | 2009-07-02 | Système radar pourvu d'antennes d'émission et de réception chevauchantes |
PCT/DE2009/000948 WO2010000254A2 (fr) | 2008-07-02 | 2009-07-02 | Système radar à capacité de mesure en élévation |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2009/000769 WO2010000216A1 (fr) | 2008-07-02 | 2009-06-03 | Système de radar pour véhicule et procédé de détermination de la position d'au moins un objet par rapport à un véhicule |
Family Applications After (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2009/000946 WO2010000252A2 (fr) | 2008-07-02 | 2009-07-02 | Système radar à formation d'angle améliorée |
PCT/DE2009/000945 WO2010000251A2 (fr) | 2008-07-02 | 2009-07-02 | Système radar pourvu d'antennes d'émission et de réception chevauchantes |
PCT/DE2009/000948 WO2010000254A2 (fr) | 2008-07-02 | 2009-07-02 | Système radar à capacité de mesure en élévation |
Country Status (7)
Country | Link |
---|---|
US (4) | US8436763B2 (fr) |
EP (4) | EP2294451B1 (fr) |
JP (4) | JP2011526371A (fr) |
KR (1) | KR101617684B1 (fr) |
CN (1) | CN102066970B (fr) |
DE (8) | DE102008038365A1 (fr) |
WO (5) | WO2010000216A1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102623795A (zh) * | 2011-01-31 | 2012-08-01 | 株式会社电装 | 天线装置、雷达装置和车载雷达系统 |
JP2012159349A (ja) * | 2011-01-31 | 2012-08-23 | Denso Corp | アンテナ装置、レーダ装置、車載レーダシステム |
Families Citing this family (390)
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- 2009-07-02 JP JP2011519030A patent/JP2011526370A/ja active Pending
- 2009-07-02 WO PCT/DE2009/000945 patent/WO2010000251A2/fr active Application Filing
- 2009-07-02 DE DE112009001041T patent/DE112009001041A5/de not_active Withdrawn
- 2009-07-02 DE DE112009001074T patent/DE112009001074A5/de not_active Withdrawn
- 2009-07-02 DE DE112009001064T patent/DE112009001064A5/de not_active Withdrawn
- 2009-07-02 WO PCT/DE2009/000948 patent/WO2010000254A2/fr active Application Filing
- 2009-07-02 EP EP09772023.9A patent/EP2294445B1/fr active Active
- 2009-07-02 US US12/994,748 patent/US8390507B2/en active Active
- 2009-07-02 EP EP09772021.3A patent/EP2294450B1/fr active Active
- 2009-07-02 DE DE102009032114A patent/DE102009032114A1/de active Pending
- 2009-07-02 JP JP2011519033A patent/JP2011526373A/ja active Pending
- 2009-07-02 US US12/994,754 patent/US8593333B2/en active Active
- 2009-07-02 KR KR1020117002547A patent/KR101617684B1/ko active IP Right Grant
- 2009-07-02 CN CN200980122802.7A patent/CN102066970B/zh not_active Expired - Fee Related
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US5940011A (en) * | 1995-04-21 | 1999-08-17 | Trw Inc. | Compact vehicle based rear and side obstacle detection system including multiple antennae |
WO2005073753A1 (fr) * | 2004-01-29 | 2005-08-11 | Robert Bosch Gmbh | Systeme radar pour automobiles |
US20060092076A1 (en) * | 2004-10-29 | 2006-05-04 | Franson Steven J | Patch array feed for an automotive radar antenna |
KR20070099195A (ko) * | 2006-04-03 | 2007-10-09 | 엘지이노텍 주식회사 | 마이크로 스트립 구조의 양면 안테나 및 그 제조방법, 그안테나를 갖는 휴대 장치 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102623795A (zh) * | 2011-01-31 | 2012-08-01 | 株式会社电装 | 天线装置、雷达装置和车载雷达系统 |
JP2012159349A (ja) * | 2011-01-31 | 2012-08-23 | Denso Corp | アンテナ装置、レーダ装置、車載レーダシステム |
CN102623795B (zh) * | 2011-01-31 | 2016-06-22 | 株式会社电装 | 天线装置、雷达装置和车载雷达系统 |
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